posted on 2010-01-01, 00:00authored byLillian Y. Chang, Nancy S. Pollard
The first step in many manipulation actions is object acquisition, where the hand is formed
around the object to achieve a task-specific grasp. A large body of the previous research has
investigated object acquisition in the context of reach-to-grasp actions. The primary focus has
been on the motor coordination of the upper limb and hand shape in the process of reaching
toward the object which is grasped. In many of the reach-to-grasp actions studied previously, the
target of the coordinated reach and preshape motion is a presented object whose placement is
considered fixed in the environment.